This paper considers the formation problem of multi-robotic fish, in which all followers take a leader as reference point to form formation and then track it as a whole. For this purpose, a distributed formation control algorithm of multiple biomimetic robotic fish is proposed. Firstly, based on the second-order consensus algorithm, a distributed algorithm for each follower of biomimetic robotic fish estimating the leader pose is proposed. Secondly, the formation description of the multiple biomimetic robotic fish formation with leader as the reference point is proposed. Moreover,according to the formation requirements, each biomimetic robotic fish determines its expected pose in the formation with the estimated reference point information. Thirdly, the biomimetic robotic fish of followers takes the desired speed, angular velocity and the estimated leader pose information as input, and uses the fuzzy controller to determine its speed gear and direction gear, so as to realize formation and maintenance of formations.The simulation and experimental results show that the proposed control method of distributed formation is effective, and the robot fish population can form the desired formation faster and follow the leader.